sl-perception
5dcaa7bd49
Implements Phase 3 ride-once-replay-forever route system. saltybot_routes package: - route_recorder_node: samples GPS+odom+heading at 1Hz during follow-me rides; 2m waypoint spacing; JSON-Lines .jsonl on NVMe /data/routes/; services start_recording/stop_recording/save/discard - route_replayer_node: loads .jsonl, GPS->ENU flat-earth conversion, heading->quaternion, 3m subsampling for Nav2 navigate_through_poses; 2m GPS tolerance (SIM7600X +-2.5m); pause/resume/stop services - route_manager_node: list/info/delete services for saved routes - route_system.launch.py: all three nodes with shared params - route_params.yaml: waypoint_spacing_m=2.0, replay_spacing_m=3.0 GPS: /gps/fix from SIM7600X (PR #65) UWB: /uwb/target from follow-me (PR #66) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
5 lines
99 B
INI
5 lines
99 B
INI
[develop]
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script_dir=$base/lib/saltybot_routes
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[install]
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install_scripts=$base/lib/saltybot_routes
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